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Industrial robot programming by demonstration using stereoscopic vision and inertial sensing
Industrial Robot ( IF 1.8 ) Pub Date : 2021-08-17 , DOI: 10.1108/ir-02-2021-0043
João Pedro C. de Souza 1 , António M. Amorim 2 , Luís F. Rocha 2 , Vítor H. Pinto 1 , António Paulo Moreira 1
Affiliation  

Purpose

The purpose of this paper is to present a programming by demonstration (PbD) system based on 3D stereoscopic vision and inertial sensing that provides a cost-effective pose tracking system, even during error-prone situations, such as camera occlusions.

Design/methodology/approach

The proposed PbD system is based on the 6D Mimic innovative solution, whose six degrees of freedom marker hardware had to be revised and restructured to accommodate an IMU sensor. Additionally, a new software pipeline was designed to include this new sensing device, seeking the improvement of the overall system’s robustness in stereoscopic vision occlusion situations.

Findings

The IMU component and the new software pipeline allow the 6D Mimic system to successfully maintain the pose tracking when the main tracking tool, i.e. the stereoscopic vision, fails. Therefore, the system improves in terms of reliability, robustness, and accuracy which were verified by real experiments.

Practical implications

Based on this proposal, the 6D Mimic system reaches a reliable and low-cost PbD methodology. Therefore, the robot can accurately replicate, on an industrial scale, the artisan level performance of highly skilled shop-floor operators.

Originality/value

To the best of the authors’ knowledge, the sensor fusion between stereoscopic images and IMU applied to robot PbD is a novel approach. The system is entirely designed aiming to reduce costs and taking advantage of an offline processing step for data analysis, filtering and fusion, enhancing the reliability of the PbD system.



中文翻译:

使用立体视觉和惯性传感进行演示的工业机器人编程

目的

本文的目的是提出一种基于 3D 立体视觉和惯性传感的演示编程 (PbD) 系统,该系统即使在容易出错的情况下(例如相机遮挡)也能提供具有成本效益的姿势跟踪系统。

设计/方法/方法

拟议的 PbD 系统基于 6D Mimic 创新解决方案,其六自由度标记硬件必须进行修改和重组以适应 IMU 传感器。此外,还设计了一个新的软件管道来包括这个新的传感设备,以寻求提高整个系统在立体视觉遮挡情况下的鲁棒性。

发现

IMU 组件和新的软件管道允许 6D Mimic 系统在主​​要跟踪工具(即立体视觉)出现故障时成功保持姿势跟踪。因此,该系统在可靠性、鲁棒性和准确性方面得到了改进,这些都得到了实际实验的验证。

实际影响

基于此提议,6D Mimic 系统达到了可靠且低成本的 PbD 方法。因此,机器人可以在工业规模上准确地复制高技能车间操作员的工匠级性能。

原创性/价值

据作者所知,应用于机器人 PbD 的立体图像和 IMU 之间的传感器融合是一种新颖的方法。该系统完全旨在降低成本并利用离线处理步骤进行数据分析、过滤和融合,从而提高 PbD 系统的可靠性。

更新日期:2021-08-17
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